MC-Basic:element.MOTIONSTATUS

This read-only property queries the motion status of an element. The element status is returned every SERCOS communication cycle and comprises of 32 bits:

Bit [0] prf_stop

Bit [1] prf_start

Bit [2-3] prf_oper

Bit [4-5] prf_mode

Bit [6-7] prf_type

Bit [8-11] acc_phase

Accstatus = (Ax.motionstatus shr 8) band 0b1111
       Bit 14 - Drive status - 1 enabled, 0 disabled
       Bit 13 - Drive Shutdown - Error in C1D
       Bit 12 - Change bit for C2D
       Bit 11 - Change bit for C3D This bit sequence indicates the state of the acceleration.

       0 = element acceleration is increasing

      1 = In position

      2 = acceleration decrease

      3 = zero acceleration

      4 = Trapez Linear acceleration is increasing

      5 = Trapez acceleration satruration

      6 = Trapez acceleration decreasing

      7 = Trapez zero acceleration

Bit [12-14] mot_type

Bit [15] doub_mod

Bit [16] sinprg

Bit [17] group_axes

Bit [18-20] allow_proceed

Bit [21-22] unusedH

Bit [23] imm_exp

Bit [24] imm_chng

Bit [25] stopped

Bit [26] interrupted

Bit [27] pending

Bit [28-30] broken_counter

Bit [31] sing

Syntax

none

Availability

All versions

Type

Long

Range

TBD

Scope

Configuration, Task or Terminal

Limitations

Read-Only

Examples

?(Ax.motionstatus shr 8) band 0b1111

See Also

• axis.ISSETTLED
• axis.ISMOVING